﻿<?xml version="1.0" encoding="utf-8"?>
<Config>
  <AgentPopulationSize>5000</AgentPopulationSize>
  <MazePopulationSize>20</MazePopulationSize>
  <AgentSeedGenomeCount>500</AgentSeedGenomeCount>
  <MazeSeedGenomeCount>1</MazeSeedGenomeCount>
  <Activation>
    <Scheme>Acyclic</Scheme>
  </Activation>
  <GenomeConfig>
    <InitialConnectionProportion>1</InitialConnectionProportion>
    <WeightMutationProbability>0.9</WeightMutationProbability>
    <AddConnnectionProbability>0.01</AddConnnectionProbability>
    <AddNodeProbability>0.005</AddNodeProbability>
    <DeleteConnectionProbability>0.001</DeleteConnectionProbability>
    <ConnectionWeightRange>5</ConnectionWeightRange>
  </GenomeConfig>
  <MazeGenomeConfig>
    <MutateWallStartLocationProbability>0.01</MutateWallStartLocationProbability>
    <MutatePassageStartLocationProbability>0.01</MutatePassageStartLocationProbability>
    <MutateAddWallProbability>0.1</MutateAddWallProbability>
    <PerturbanceMagnitude>0.1</PerturbanceMagnitude>
  </MazeGenomeConfig>
  <BehaviorConfig>
    <BehaviorCharacterization>End Point</BehaviorCharacterization>
  </BehaviorConfig>
  <NavigatorOffspringBatchSize>50</NavigatorOffspringBatchSize>
  <MazeOffspringBatchSize>10</MazeOffspringBatchSize>
  <MaxEvaluations>10000000</MaxEvaluations>
  <MaxTimesteps>600</MaxTimesteps>
  <MinSuccessDistance>5</MinSuccessDistance>
  <MazeHeight>20</MazeHeight>
  <MazeWidth>20</MazeWidth>
  <MazeScaleMultiplier>16</MazeScaleMultiplier>
  <NumMazesSolvedCriteria>1</NumMazesSolvedCriteria>
  <NumAgentsSolvedCriteria>1</NumAgentsSolvedCriteria>
  <NumAgentsFailedCriteria>1</NumAgentsFailedCriteria>
  <InitializationAlgorithmConfig>
    <PopulationSize>250</PopulationSize>
    <GenomeConfig>
      <InitialConnectionProportion>1</InitialConnectionProportion>
      <WeightMutationProbability>0.9</WeightMutationProbability>
      <AddConnnectionProbability>0.05</AddConnnectionProbability>
      <AddNodeProbability>0.005</AddNodeProbability>
      <DeleteConnectionProbability>0.001</DeleteConnectionProbability>
      <ConnectionWeightRange>5</ConnectionWeightRange>
    </GenomeConfig>
    <SpecieCount>15</SpecieCount>
    <SelectionProportion>0.2</SelectionProportion>
    <OffspringAsexualProbability>0.5</OffspringAsexualProbability>
    <OffspringSexualProbability>0.5</OffspringSexualProbability>
    <InterspeciesMatingProbability>0.001</InterspeciesMatingProbability>
  </InitializationAlgorithmConfig>
  <PopulationLoggingBatchInterval>10</PopulationLoggingBatchInterval>
  <Description>
    Coevolutionary MCS Maze navigation experiment, evolving both maze navigators and the mazes themselves.
  </Description>
</Config>